CN116846257B - Method, apparatus and storage medium for driving an elongated instrument - Google Patents
Method, apparatus and storage medium for driving an elongated instrument Download PDFInfo
- Publication number
- CN116846257B CN116846257B CN202311118085.9A CN202311118085A CN116846257B CN 116846257 B CN116846257 B CN 116846257B CN 202311118085 A CN202311118085 A CN 202311118085A CN 116846257 B CN116846257 B CN 116846257B
- Authority
- CN
- China
- Prior art keywords
- motor
- rotation
- delivery
- gear
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 238000004590 computer program Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 8
- 210000004204 blood vessel Anatomy 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 5
- 239000002131 composite material Substances 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 3
- 238000013152 interventional procedure Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003073 embolic effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 229940126585 therapeutic drug Drugs 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/48—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing mechanical values representing the speeds
- H02P5/485—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing mechanical values representing the speeds using differential movement of the two motors, e.g. using differential gearboxes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Hematology (AREA)
- Anesthesiology (AREA)
- Pulmonology (AREA)
- Biophysics (AREA)
- Surgery (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Manipulator (AREA)
Abstract
The present application relates to the field of medical technology, in particular to a method, a device and a storage medium for driving an elongated instrument, wherein the method is applied to a driving device of an interventional surgical robot, the driving device comprising a delivery motor and a rotating motor, the method comprising: receiving a control instruction for controlling the movement of the elongated instrument, the control instruction carrying rotary motor rotation information and/or delivery motor rotation information; determining a control mode of the elongate instrument in accordance with control instructions, the control mode comprising one of: delivery, rotation, and delivery and rotation; when the control mode is rotation, calculating compensation information of the delivery motor according to rotation information of the rotating motor carried by the control instruction; and controlling the rotation of the rotating motor according to the rotation information of the rotating motor, and controlling the rotation of the delivery motor according to the compensation information of the delivery motor so as to drive the slender instrument. The present application enables precise control of elongate instrument motion.
Description
Technical Field
The present application relates to the field of medical technology, and more particularly, to a method, apparatus, and storage medium for driving an elongate instrument.
Background
The vascular intervention operation is to cut a small opening on the skin through a minimally invasive means, puncture the skin with a puncture needle to enter the blood vessel, then establish a channel, then make a special catheter and a guide wire to reach the position of the blood vessel with the problem along the blood vessel channel, pull out the guide wire after reaching the designated position, and then send therapeutic drugs or embolic materials or stents, balloons and the like to the designated position through a hollow catheter, thereby treating the blood vessel with the problem in the blood vessel.
At present, the vascular intervention operation can be completed through an intervention operation robot, specifically, a doctor can complete the intervention operation outside an operation room (catheter room) by operating a driving device of a main end of the intervention operation robot to remotely control a slave end of the intervention operation robot to cooperatively control an elongated instrument (including a catheter, a guide wire, a balloon catheter and the like). The drive means of the slave end is also understood to be drive means of the elongate instrument, which enable control of the movement of the elongate instrument. Current drives for elongate instruments include delivery motors, rotating motors, delivery motor gear sets, rotating motor gear sets, delivery elongate instrument power output shafts, rotating elongate instrument power output shafts, elongate instrument delivery gears, and elongate instrument rotation gears. When the delivery motor is started, power is transmitted to a delivery elongated instrument power output shaft through the delivery motor gear set, and the delivery elongated instrument power output shaft drives the elongated instrument delivery gear to rotate, so that the elongated instrument is driven to be delivered, and the elongated instrument delivery refers to the axial movement of the elongated instrument. When the rotary motor is started, power is transmitted to the power output shaft of the rotary slender instrument through the rotary motor gear set, and the power output shaft of the rotary slender instrument drives the rotary gear of the slender instrument to rotate, so that the slender instrument is driven to rotate, and the slender instrument rotates around the axis of the slender instrument. In addition, in the current driving device design of the slender apparatus, when the slender apparatus rotating gear rotates, the slender apparatus delivery gear is driven to rotate in the same direction, and when the slender apparatus delivery gear rotates, the slender apparatus rotating gear is not driven to rotate. However, such designs of elongated instrument rotation gears that rotate in the same direction as the elongated instrument delivery gears cause delivery deviations when controlling the elongated instrument rotation, thereby failing to accurately control the elongated instrument motion.
Disclosure of Invention
The invention aims to provide a method and a device for delivering and rotating an elongated instrument, and aims to solve the technical problem that the motion of the elongated instrument cannot be accurately controlled due to the mechanical structural design of a driving device of the existing elongated instrument.
In a first aspect, embodiments of the present application provide a method for driving an elongate instrument, for use in a driving device of an interventional surgical robot, the driving device comprising a delivery motor and a rotary motor, the method comprising:
receiving a control instruction for controlling the movement of the elongated instrument, the control instruction carrying rotary motor rotation information and/or delivery motor rotation information;
determining a control mode of the elongate instrument from the control instructions, the control mode comprising one of: delivery, rotation, and delivery and rotation;
when the control mode is rotation, calculating compensation information of a delivery motor according to rotation information of the rotation motor carried by the control instruction;
and controlling the rotation of the rotating motor according to the rotation information of the rotating motor, and controlling the rotation of the delivery motor according to the compensation information of the delivery motor so as to drive the slender instrument.
Further, after the step of determining the control mode of the elongated instrument according to the control instruction, the method further comprises:
when the control mode is delivery and rotation, calculating compensation information of a delivery motor according to rotation information of the rotation motor carried by the control instruction;
calculating actual rotation information of the delivery motor according to the rotation information of the delivery motor carried by the control instruction and the compensation information of the delivery motor;
and controlling the rotation of the rotating motor according to the rotation information of the rotating motor, and controlling the rotation of the delivery motor according to the actual rotation information of the delivery motor so as to drive the slender instrument.
Further, after the step of determining the control mode of the elongated instrument according to the control instruction, the method further comprises:
and when the control mode is delivery, controlling the delivery motor to rotate according to the delivery motor rotation information carried by the control instruction so as to drive the slender instrument.
Further, the rotating electrical machine rotation information includes a rotating electrical machine rotation speed, or the rotating electrical machine rotation information includes a rotating electrical machine rotation speed and a rotating electrical machine rotation angle.
Further, the delivery motor rotation information includes a delivery motor rotation speed, or the delivery motor rotation information includes a delivery motor rotation speed and a delivery motor rotation angle.
Further, the driving device further includes a delivery motor gear set and a rotating motor gear set, and when the rotating motor rotation information includes a rotating motor rotation speed, calculating the compensation information of the delivery motor according to the rotating motor rotation information carried by the control instruction includes:
according to the formulaCalculating a delivery motor compensation speed; wherein (1)>To deliver the compensation speed of the motor, < >>For the rotational speed of the rotating electrical machine, < >>And calculating a ratio value according to the number of gears of the delivery motor gear set and the number of gears of the rotating motor gear set.
Further, the driving device further includes a delivery motor gear set and a rotating motor gear set, and when the rotating motor rotation information includes a rotating motor rotation speed and a rotating motor rotation angle, the calculating compensation information of the delivery motor according to the rotating motor rotation information carried by the control instruction includes:
according to the formulaCalculating a delivery motor compensation speed; wherein (1)>To deliver the compensation speed of the motor, < >>For the rotational speed of the rotating electrical machine, < >>A ratio value calculated from the number of gears of the delivery motor gear set and the number of gears of the rotating motor gear set;
According to the formulaCalculating a delivery motor compensation angle; wherein (1)>In order to deliver the compensation angle of the motor,is the rotation angle of the rotary motor.
Further, when the rotating motor rotation information includes a rotating motor rotation speed and a rotating motor rotation angle, and the delivering motor rotation information includes a delivering motor rotation speed and a delivering motor rotation angle, the calculating the delivering motor actual rotation information according to the delivering motor rotation information carried by the control instruction and the compensating information of the delivering motor includes:
according to the formulaCalculating the actual rotation speed of the delivery motor; wherein (1)>For delivering the motor rotational speed +.>For the rotational speed of the rotating electrical machine, < >>To the number of gears of each gear set according to the delivery motorAnd a proportional value calculated from the number of gears of each gear set of the rotating electric machine,/->To deliver the compensation speed of the motor, < >>To deliver the actual rotational speed of the motor;
according to the formulaCalculating the actual rotation angle of the delivery motor; wherein (1)>For delivering the motor rotation angle +.>For the rotation angle of the rotating motor, < > >Compensating for angle for delivery of motor->To deliver the actual angle of rotation of the motor.
In a second aspect, embodiments of the present application provide a device for driving an elongated instrument, a driving device for use with an interventional surgical robot, the driving device including a delivery motor and a rotary motor, the device for driving an elongated instrument comprising:
the receiving module is used for receiving the control instruction; the control instructions are used for controlling the movement of the slender instrument, and carry rotating motor rotation information and/or delivery motor rotation information;
a control mode determination module for determining a control mode of the elongate instrument according to the control instructions, the control mode comprising one of: delivery, rotation, and delivery and rotation;
the calculating module is used for calculating compensation information of the delivery motor according to the rotation information of the rotating motor carried by the control instruction when the control mode is rotation;
and the control module is used for controlling the rotating motor to rotate according to the rotating information of the rotating motor and controlling the delivering motor to rotate according to the compensating information of the delivering motor.
In a third aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for driving an elongate instrument as described in any of the preceding claims.
According to the method and the device for controlling the movement of the long and thin instrument, when the long and thin instrument control mode is determined to be rotation, the compensation information of the delivery motor is calculated according to the rotation information of the rotating motor carried by the control instruction, and then the delivery motor is controlled to rotate according to the compensation information of the delivery motor, so that the long and thin instrument delivery gear is controlled to compensate, the problem that delivery deviation is generated by driving the long and thin instrument delivery gear to rotate in the same direction when the long and thin instrument rotation gear rotates is solved, and the long and thin instrument can be independently rotated, namely the movement of the long and thin instrument can be accurately controlled.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a driving device according to an embodiment of the present application;
FIG. 2 is a schematic illustration of the structure of a power pack provided in an embodiment of the present application;
fig. 3 is a flow chart of a method for driving an elongated instrument provided in an embodiment of the present application.
Reference numerals:
1. a delivery motor; 2. a rotating electric machine; 4. a delivery motor gear set; 5. a rotating electric machine gear set; 6. delivering an elongate instrument power take off shaft; 7. rotating the elongate instrument power take off shaft; 8. an elongate instrument delivery gear; 9. an elongated instrument rotation gear, 10 clamp assembly; 11. a sterile cassette; 12. a power box.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, modules, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any module and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.
Currently, the drive means of the elongate instrument may provide for control of the movement of the elongate instrument. As shown in fig. 1, the driving device of the current slender apparatus comprises a sterile box 11 and a power box 12, wherein the sterile box 11 is arranged on the power box 12, and the power box 12 is used for providing power for the sterile box 11. The sterile cassette 11 comprises an elongate instrument delivery gear 8, an elongate instrument rotation gear 9 and a clamping assembly 10, the clamping assembly 10 being for clamping an elongate instrument. The power box 12 is schematically and schematically shown in fig. 2 and comprises a delivery motor 1, a rotating motor 2, a delivery motor gear set 4, a rotating motor gear set 5, a delivery slender instrument power output shaft 6 and a rotary slender instrument power output shaft 7. As shown in fig. 2, when the delivery motor 1 is started, power is transmitted to the delivery elongated instrument power output shaft 6 through the delivery motor gear set 4, specifically, power is transmitted to the delivery elongated instrument power output shaft 6 through the gear a, and then, the delivery elongated instrument power output shaft 6 drives the elongated instrument delivery gear 8 shown in fig. 1 to rotate, and the elongated instrument delivery gear 8 drives the clamping assembly 10 to axially move the elongated instrument, so that the elongated instrument is delivered, and the elongated instrument delivery refers to the axial movement of the elongated instrument along the axial direction thereof. When the rotary motor 2 is started, power is transmitted to the rotary slender apparatus power output shaft 7 through the rotary motor gear set 5, specifically, power is transmitted to the rotary slender apparatus power output shaft 7 through the gear e, the gear f, the gear g and the gear h sequentially, then the rotary slender apparatus power output shaft 7 drives the slender apparatus rotary gear 9 shown in fig. 1 to rotate, the rotation of the slender apparatus rotary gear 9 drives the clamping assembly 10 to drive the slender apparatus to rotate around the axis line of the slender apparatus, and accordingly the rotation of the slender apparatus means that the slender apparatus rotates around the axis line of the slender apparatus. In addition, in the current driving device design of the slender apparatus, when the slender apparatus rotating gear 9 rotates, the clamping assembly 10 is driven to rotate around the axis of the slender apparatus, the slender apparatus delivery gear 8 is driven to rotate in the same direction, and when the slender apparatus delivery gear 8 rotates, the slender apparatus rotating gear 9 is not driven to rotate. However, such a design of the elongated instrument rotation gear 9 to rotate the elongated instrument delivery gear 8 in the same direction may result in delivery deviations when controlling the elongated instrument rotation, thereby failing to accurately control the elongated instrument movement.
To solve the above-mentioned technical problems, an embodiment of the present application provides a method for driving an elongated instrument, which is applied to a driving device of an interventional surgical robot, the driving device including a delivery motor and a rotating motor, the method including steps S1-S4, as shown in fig. 3:
s1, receiving a control instruction, wherein the control instruction is used for controlling the movement of the slender instrument, and the control instruction carries rotation information of a rotating motor and/or delivery motor rotation information.
In step S1, the driving device of the interventional surgical robot can remotely receive a control command transmitted from a doctor console (master) as a slave. The control instructions are for controlling the movement of the elongate instrument, including controlling the delivery, rotation, and delivery and rotation of the elongate instrument. The elongate instrument may be an elongate instrument for interventional procedures, such as a guidewire, catheter, or the like. The rotating electrical machine rotation information is a parameter for controlling the rotation of the rotating electrical machine, and the delivery motor rotation information is a parameter for controlling the rotation of the delivery motor.
S2, determining a control mode of the slender instrument according to the control instruction, wherein the control mode comprises one of the following modes: delivery, rotation, and delivery and rotation.
In step S2, the control mode of the elongated device includes delivery, rotation, and delivery and rotation, wherein delivery refers to movement of the elongated device in its axial direction, and specifically includes advancement and retraction, wherein advancement refers to movement of the elongated device in a direction into a patient 'S blood vessel, and retraction refers to movement of the elongated device in a direction out of the patient' S blood vessel. Rotation refers to movement of the elongate instrument about its axis, including clockwise rotation and counterclockwise rotation. Each control command corresponds to a control mode that indicates the elongate instrument control mode as rotating, i.e., controlling the elongate instrument to rotate, when the control command carries rotary motor rotation information but does not carry delivery motor rotation information. When the control instruction carries rotation information of the rotating motor and delivery motor, the control instruction indicates that the control mode of the slender instrument is delivery and rotation, namely, the slender instrument is controlled to be delivered and rotated. When the control command carries delivery motor rotation information but does not carry rotating motor rotation information, the control command indicates that the control mode of the elongated instrument is delivery.
And S3, when the control mode is rotation, calculating compensation information of the delivery motor according to rotation information of the rotating motor carried by the control instruction.
In step S3, if the elongated instrument is to be controlled to rotate clockwise, the elongated instrument rotating gear needs to rotate clockwise, and as known from the foregoing, the mechanical structure of the driving device of the existing elongated instrument is designed such that the elongated instrument rotating gear drives the elongated instrument delivering gear to rotate in the same direction when rotating, that is, the existing mechanical structure design generates delivery deviation, so that the elongated instrument cannot be guaranteed to rotate clockwise alone, and in order to solve the problem, the elongated instrument can be guaranteed to rotate clockwise alone, the elongated instrument delivering gear needs to rotate anticlockwise in a certain proportion, that is, the elongated instrument delivering gear needs to compensate to ensure that the elongated instrument can rotate clockwise alone. Because the slender instrument rotating gear is driven by the rotating motor, and the slender instrument delivery gear is driven by the delivery motor, if the slender instrument can rotate clockwise alone, compensation information of the delivery motor needs to be calculated according to the rotation information of the rotating motor, and the delivery motor is controlled to rotate through the compensation information of the delivery motor, so that the slender instrument delivery gear is controlled to rotate anticlockwise in a certain proportion. And the same is true. In order to control the rotation of the elongated instrument in the counterclockwise direction, the rotation of the rotation gear of the elongated instrument is required, and as the mechanical structure of the driving device of the existing elongated instrument is designed in such a way that the rotation gear of the elongated instrument drives the delivery gear of the elongated instrument to rotate in the same direction, that is, the delivery deviation is generated by the design of the existing mechanical structure, so that the independent counterclockwise rotation of the elongated instrument cannot be ensured. To solve this problem, it is necessary to rotate the elongated instrument delivery gear clockwise in a proportion that compensates for the elongated instrument delivery gear to ensure that the elongated instrument rotates counter clockwise alone. Because the slender apparatus rotating gear is driven by the rotating motor, and the slender apparatus delivery gear is driven by the delivery motor, if the slender apparatus can rotate anticlockwise independently, compensation information of the delivery motor needs to be calculated according to the rotation information of the rotating motor, and the delivery motor is controlled to rotate through the compensation information of the delivery motor, so that the slender apparatus delivery gear is controlled to rotate clockwise in a certain proportion.
And S4, controlling the rotating motor to rotate according to the rotating information of the rotating motor, and controlling the delivery motor to rotate according to the compensating information of the delivery motor so as to drive the slender instrument.
In step S4, it is known from the foregoing that, if the elongated device is to be controlled to rotate clockwise, the elongated device rotating gear needs to rotate clockwise, and because the elongated device rotating gear is driven by the rotating motor, the rotating motor needs to be controlled to rotate, specifically according to the rotating information carried by the control command, and because the elongated device rotating gear rotates clockwise, the elongated device delivering gear will be driven to rotate clockwise, and therefore, if the elongated device can be guaranteed to rotate clockwise alone, that is, no or little delivery deviation is generated, the elongated device delivering gear needs to rotate anticlockwise in a certain proportion, and because the elongated device rotating gear is driven by the delivering motor, the delivering motor needs to be controlled to rotate, specifically according to the compensating information of the delivering motor.
According to the method and the device for controlling the movement of the long and thin instrument, when the long and thin instrument control mode is determined to be rotation, the compensation information of the delivery motor is calculated according to the rotation information of the rotating motor carried by the control instruction, and then the delivery motor is controlled to rotate according to the compensation information of the delivery motor, so that the long and thin instrument delivery gear is controlled to compensate, the problem that delivery deviation is generated by driving the long and thin instrument delivery gear to rotate in the same direction when the long and thin instrument rotation gear rotates is solved, and the long and thin instrument can be independently rotated, namely the movement of the long and thin instrument can be accurately controlled.
In some embodiments, after the step of determining the control mode of the elongate instrument from the control instructions, further comprising:
when the control mode is delivery and rotation, calculating compensation information of a delivery motor according to rotation information of the rotation motor carried by the control instruction;
calculating actual rotation information of the delivery motor according to the rotation information of the delivery motor carried by the control instruction and the compensation information of the delivery motor;
and controlling the rotation of the rotating motor according to the rotation information of the rotating motor, and controlling the rotation of the delivery motor according to the actual rotation information of the delivery motor so as to drive the slender instrument.
In the embodiment of the application, when the control instruction carries the rotation motor rotation information and the delivery motor rotation information, the control mode of the elongated instrument is delivery and rotation, that is, the elongated instrument is controlled to be delivered and rotated. From the foregoing, it can be seen that the elongate instrument delivery gear is required to compensate for the rotation of the elongate instrument, and therefore, the compensation information of the delivery motor is required to be calculated according to the rotation information of the rotary motor, and since the control mode includes delivery, the actual rotation speed of the delivery motor is required to be calculated according to the compensation information of the delivery motor and the rotation information of the delivery motor carried by the control command. To ensure that the elongate instrument is capable of accurately effecting the compound movement, it is therefore necessary to control the rotation of the rotary motor in accordance with the rotation information of the rotary motor and to control the rotation of the delivery motor in accordance with the actual rotation information of the delivery motor to drive the compound movement of the elongate instrument.
In some embodiments, after the step of determining the control mode of the elongate instrument from the control instructions, further comprising:
and when the control mode is delivery, controlling the delivery motor to rotate according to the delivery motor rotation information carried by the control instruction so as to drive the slender instrument.
In the embodiment of the application, when the control command carries the information of the rotation of the delivery motor but does not carry the information of the rotation motor, the control mode of the elongated instrument is delivery, that is, the elongated instrument is controlled to be delivered. From the foregoing, the elongated instrument delivery gear will not rotate when rotating, so the elongated instrument can be controlled to be delivered independently only by controlling the delivery motor to rotate according to the rotation information of the delivery motor carried by the control command.
In some embodiments, the rotating electrical machine rotation information includes a rotating electrical machine rotation speed, or the rotating electrical machine rotation information includes a rotating electrical machine rotation speed and a rotating electrical machine rotation angle.
In embodiments of the present application, the manner in which the rotation of the elongate instrument is controlled includes controlling the elongate instrument to rotate in a speed mode or controlling the elongate instrument to rotate in a position mode. Controlling the elongate instrument to rotate in a speed mode refers to controlling the elongate instrument to rotate at a set speed, e.g., 3r/s (revolutions per second), because the elongate instrument rotation requires power from a rotating motor, it is necessary to convert the elongate instrument rotational speed to a rotating motor rotational speed. The rotational speed of the elongate instrument is obtained by the physician's console and converted to a rotational speed of the rotary motor by the physician's console. For example, the doctor inputs the rotation speed of the elongated instrument to the doctor console, and the input modes are various, namely, the doctor inputs the rotation speed through a screen mode, or the doctor inputs the rotation speed of the elongated instrument through operating the operating rocker, so that the doctor console obtains the rotation speed of the elongated instrument, and then the doctor console converts the rotation speed of the elongated instrument into the rotation speed of the rotating motor. It should be understood that the rotational speed of the rotating electrical machine is the rotational speed of the rotating electrical machine. Controlling the elongate instrument to rotate in the positional mode refers to controlling the elongate instrument to rotate at a set speed and to turn a set angle. For example, controlling an elongate instrument to 3r/s (rotation/second) rotation and rotationWhen the elongated instrument is turned +>When the elongate instrument stops rotating. Since the rotation of the elongated instrument requires the power of the rotating motor, it is necessary to convert the rotation speed of the elongated instrument into the rotation speed of the rotating motor and the rotation angle of the elongated instrument into the rotation angle of the rotating motor. The rotational speed and rotational angle of the elongated instrument are obtained by the physician's console and are converted to a rotational motor rotational speed and rotational motor rotational angle by the physician's console. For example, the doctor inputs the rotation speed and rotation angle of the elongated instrument to the doctor console, so that the doctor console obtains the rotation speed and rotation angle of the elongated instrument, and then the doctor console converts the rotation speed of the elongated instrument into the rotation speed of the rotating motor and converts the rotation angle of the elongated instrument into the rotation angle of the rotating motor. It should be understood that the rotation angle of the rotating electric machine is the rotation angle of the rotating electric machine. In interventional procedures, it is an option to rotate the elongate instrument in the patient's blood vessel in a velocity mode or in a position mode, which is simply rotated at a set velocity, so that the desired angle of rotation of the elongate instrument is not well controlled, and when the velocity is too great, the deviation is also greater. In the position mode, the rotation is stopped when the rotation is to the set angle, so that the rotation of the elongated instrument can be precisely controlled to a desired angle. I.e. the position mode enables a more precise control of the rotation of the elongated instrument to a desired angle than the speed mode.
In some embodiments, the delivery motor rotation information comprises a delivery motor rotation speed, or the delivery motor rotation information comprises a delivery motor rotation speed and a delivery motor rotation angle.
In embodiments of the present application, controlling the delivery of the elongate instrument includes controlling the elongate instrument to be delivered in a speed mode or controlling the elongate instrument to be delivered in a position mode. Controlling the delivery of the elongate instrument in a velocity mode refers to controlling the delivery of the elongate instrument at a set velocity, e.g., controlling the delivery of the elongate instrument at 3m/s (meters/second). Since delivery of the elongate instrument requires the delivery motor to be powered, it is necessary to convert the elongate instrument delivery speed to a delivery motor rotational speed. The delivery speed of the elongate instrument is obtained by the physician's console and converted by the physician's console to a delivery motor rotational speed. For example, the doctor inputs the delivery speed of the elongated instrument to the doctor console, and the input modes are various, namely, the doctor inputs the delivery speed through a screen mode, or the doctor inputs the delivery speed of the elongated instrument through operating the operating rocker, so that the doctor console obtains the delivery speed of the elongated instrument, and then the doctor console converts the delivery speed of the elongated instrument into the rotation speed of the delivery motor. Controlling the elongate instrument to deliver in a positional mode refers to controlling the elongate instrument to deliver at a set speed and to deliver a set displacement (distance). For example, the elongate instrument is controlled to be delivered at 3m/s and delivered 3mm (millimeters), and when the elongate instrument is delivered 3mm, the elongate instrument stops delivery. Since delivery of the elongate instrument requires the delivery motor to be powered, it is necessary to convert the elongate instrument delivery speed to a delivery motor rotational speed and the elongate instrument delivery displacement to a delivery motor rotational angle. The delivery speed and delivery displacement of the elongate instrument are obtained by the physician's console and are converted to a delivery motor rotational speed and delivery motor rotational angle by the physician's console. For example, the doctor inputs the delivery speed and the delivery displacement of the elongated instrument to the doctor console, wherein the input modes are various, namely, the doctor inputs the delivery speed and the delivery displacement of the elongated instrument through a screen mode, or the doctor inputs the delivery speed and the delivery displacement of the elongated instrument through operating a rocker, so that the doctor console obtains the delivery speed and the delivery displacement of the elongated instrument, and then the doctor console converts the delivery speed of the elongated instrument into the rotation speed of a delivery motor and converts the delivery displacement of the elongated instrument into the rotation angle of the delivery motor. In interventional procedures, it is an option to have the elongate instrument delivered intravascularly in a patient in a velocity or position mode, which is simply delivered at a set velocity, and thus does not control the desired displacement of the elongate instrument, i.e. the movement of the desired distance, and when the velocity is too great, the deviation is also greater. The position mode, however, allows precise control of the delivery of the desired displacement of the elongate instrument since delivery is stopped after delivery of the set displacement. That is, the position mode enables more precise control of the delivery of the elongate instrument to the desired displacement than the velocity mode.
As can be seen from the above, there are delivery and rotation in addition to simple rotation, delivery, and when the elongate instrument is controlled to deliver and rotate, the control instructions carry the rotation information of the rotating motor and the rotation information of the delivery motor. The rotating electrical machine rotation information includes a rotating electrical machine rotation speed, or the rotating electrical machine rotation information includes a rotating electrical machine rotation speed and a rotating electrical machine rotation angle. The delivery motor rotation information includes a delivery motor rotation speed, or the delivery motor rotation information includes a delivery motor rotation speed and a delivery motor rotation angle. I.e. delivery and rotation comprises four modes, respectively: rotate in speed mode and deliver in speed mode, rotate in speed mode and deliver in position mode, rotate in position mode and deliver in speed mode, rotate in position mode and deliver in position mode. Rotating in a positional mode and delivering in a positional mode enables more precise control of the composite motion of the elongate instrument than the other three modes, it being understood that composite motion herein refers to delivering and rotating.
In some embodiments, the driving apparatus further includes a delivery motor gear set and a rotating motor gear set, and when the rotating motor rotation information includes a rotating motor rotation speed, calculating the compensation information of the delivery motor according to the rotating motor rotation information carried by the control instruction includes:
According to the formulaCalculating a delivery motor compensation speed; wherein (1)>To deliver the compensation speed of the motor, < >>For rotating electricitySpeed of rotation of machine>And calculating a ratio value according to the number of gears of the delivery motor gear set and the number of gears of the rotating motor gear set.
In the embodiment of the application, when the control command carries the rotation information of the rotating motor but does not carry the rotation information of the delivery motor, and the rotation information of the rotating motor carries the rotation speed of the rotating motor but does not carry the rotation angle of the rotating motor, it means that the elongated instrument is controlled to rotate in a speed mode, in which case the compensation speed of the delivery motor is calculated specifically according to the rotation speed of the rotating motor and the k value, as shown in the formulaAs shown. To ensure that the elongate instrument rotates alone, the rotary motor is controlled to rotate at a rotary motor rotational speed carried by the control command and the delivery motor is controlled to rotate in a reverse direction at the compensated speed. The k value here is a proportional value calculated from the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotation motor gear set, and is specifically calculated according to the formula when the delivery motor gear set and the rotation motor gear set are as shown in fig. 2 Calculating to obtain; wherein (1)>Respectively representing the number of teeth of the gear and delivering the gear of the motor +.>To->The transmission ratio between them is->，/>To->The transmission ratio between them is->Similarly, the rotating motor gear is->To->The transmission ratio between them is->，/>To->The transmission ratio between them is->。
In some embodiments, the driving apparatus further includes a delivery motor gear set and a rotating motor gear set, and when the rotating motor rotation information includes a rotating motor rotation speed and a rotating motor rotation angle, calculating the compensation information of the delivery motor according to the rotating motor rotation information carried by the control instruction includes:
according to the formulaCalculating a delivery motor compensation speed; wherein (1)>To deliver the compensation speed of the motor, < >>For the rotational speed of the rotating electrical machine, < >>To deliver electricity according to theThe gear number of each gear of the gear set and the gear number of each gear of the rotating motor gear set are calculated to obtain a proportional value;
according to the formulaCalculating a delivery motor compensation angle; wherein (1)>In order to deliver the compensation angle of the motor,is the rotation angle of the rotary motor.
In the embodiment of the application, when the control instruction carries the rotation information of the rotating motor but does not carry the rotation information of the delivery motor, and the rotation information of the rotating motor carries the rotation speed of the rotating motor and carries the rotation angle of the rotating motor, it means that the elongated instrument is controlled to rotate in the position mode, in this case, the compensation speed of the delivery motor is calculated according to the rotation speed of the rotating motor and the k value, and the compensation angle of the delivery motor is calculated according to the rotation angle of the rotating motor and the k value, as a formula And formula->As shown, these two formulas represent the rotating electrical machine to +.>Rotate clockwise speed to +.>In the position of (2) the delivery motor needs to be in +.>Is rotated counterclockwise to +.>Is to ensure that the elongate instrument is rotated clockwise aloneAnd (5) movement. Rotating electrical machine to +.>Rotate anticlockwise speed to +.>In the position of (2) the delivery motor needs to be in +.>Is rotated clockwise to +.>Is provided to ensure that the elongate instrument performs a single counter-clockwise rotational movement. Further, the k value here is a proportional value calculated from the number of gears of each gear of the delivery motor gear set and the number of gears of each gear of the rotation motor gear set, and is specifically according to the formula +.>Calculating to obtain; wherein (1)>Respectively representing the number of teeth of the gear and delivering the gear of the motor +.>To->The transmission ratio between them is->，/>To->The transmission ratio between them is->Similarly, the rotating motor gear is->To->The transmission ratio between them is->，/>To->The transmission ratio between them is->。
In some embodiments, the driving device further includes a delivery motor gear set and a rotation motor gear set, and when the rotation motor rotation information includes a rotation motor rotation speed and a rotation motor rotation angle, the calculating the actual rotation information of the delivery motor according to the delivery motor rotation information carried by the control instruction and the compensation information of the delivery motor includes:
According to the formulaCalculating the actual rotation speed of the delivery motor; wherein (1)>For delivering the motor rotational speed +.>For the rotational speed of the rotating electrical machine, < >>For a proportional value calculated from the number of gears of the delivery motor gear set and the number of gears of the rotation motor gear set, < >>To deliver the compensation speed of the motor, < >>To deliver the actual rotational speed of the motor;
according to the formulaCalculating the actual rotation angle of the delivery motor; wherein (1)>For delivering the motor rotation angle +.>For the rotation angle of the rotating motor, < >>Compensating for angle for delivery of motor->To deliver the actual angle of rotation of the motor.
In the embodiment of the application, when the control instruction carries rotating motor rotating information and delivery motor rotating information, and the rotating motor rotating information carries rotating motor rotating speed and rotating motor rotating angle, the delivery motor rotating information carries delivery motor rotating speed and delivery motor rotating angle, then the control of the composite motion of the slender apparatus in the position mode, namely the control of the rotation in the position mode and the control of the delivery in the position mode, is indicated. Specifically, the compensation speed of the delivery motor is calculated according to the rotation speed of the rotating motor and the k value carried by the control command, and then the actual rotation speed of the delivery motor can be calculated by adding the compensation speed of the delivery motor to the rotation speed of the delivery motor carried by the control command. And calculating the compensation angle of the delivery motor according to the rotation angle of the rotating motor and the k value carried by the control instruction, and then calculating the actual rotation angle of the delivery motor by adding the compensation angle of the delivery motor and the rotation angle of the delivery motor carried by the control instruction. In order to ensure that the compound motion of the slender apparatus can be accurately controlled, the rotating motor is controlled to rotate according to the rotating speed and the rotating angle of the rotating motor carried by the control instruction, and the delivering motor is controlled to rotate according to the actual rotating speed and the actual rotating angle of the delivering motor. It should be noted that the speeds mentioned here are not positive or negative, but are merely of magnitude.
Embodiments of the present application also provide a device for driving an elongated instrument, a driving device applied to an interventional surgical robot, the driving device including a delivery motor and a rotating motor, the device for driving an elongated instrument comprising:
the receiving module is used for receiving the control instruction; the control instructions are used for controlling the movement of the slender instrument, and carry rotating motor rotation information and/or delivery motor rotation information;
a control mode determination module for determining a control mode of the elongate instrument according to the control instructions, the control mode comprising one of: delivery, rotation, and delivery and rotation;
the first calculation module is used for calculating compensation information of the delivery motor according to the rotating motor rotating information carried by the control instruction when the control mode is rotation;
and the first control module is used for controlling the rotating motor to rotate according to the rotating information of the rotating motor and controlling the delivering motor to rotate according to the compensating information of the delivering motor.
In some embodiments, the apparatus for driving an elongate instrument further comprises:
the second calculation module is used for calculating compensation information of the delivery motor according to the rotation information of the rotation motor carried by the control instruction when the control mode is delivery and rotation;
The third calculation module is used for calculating the actual rotation information of the delivery motor according to the rotation information of the delivery motor carried by the control instruction and the compensation information of the delivery motor;
and the second control module is used for controlling the rotation of the rotating motor according to the rotation information of the rotating motor and controlling the rotation of the delivery motor according to the actual rotation information of the delivery motor so as to drive the slender instrument.
In some embodiments, the apparatus for driving an elongate instrument further comprises:
and the third control module is used for controlling the delivery motor to rotate according to the delivery motor rotation information carried by the control instruction when the control mode is delivery so as to drive the slender instrument.
In some embodiments, the rotating electrical machine rotation information includes a rotating electrical machine rotation speed, or the rotating electrical machine rotation information includes a rotating electrical machine rotation speed and a rotating electrical machine rotation angle.
In some embodiments, the delivery motor rotation information comprises a delivery motor rotation speed, or the delivery motor rotation information comprises a delivery motor rotation speed and a delivery motor rotation angle.
In some embodiments, the drive device further comprises a delivery motor gear set and a rotating motor gear set, and the first calculation module is specifically configured to, when the rotating motor rotation information includes a rotating motor rotation speed:
According to the formulaCalculating a delivery motor compensation speed; wherein (1)>To deliver the compensation speed of the motor, < >>For the rotational speed of the rotating electrical machine, < >>And calculating a ratio value according to the number of gears of the delivery motor gear set and the number of gears of the rotating motor gear set.
In some embodiments, the drive device further comprises a delivery motor gear set and a rotating motor gear set, and the third computing module is specifically configured to, when the rotating motor rotation information includes a rotating motor rotation speed and a rotating motor rotation angle:
according to the formulaCalculating a delivery motor compensation speed; wherein (1)>To deliver the compensation speed of the motor, < >>For the rotational speed of the rotating electrical machine, < >>A ratio value calculated from the number of gears of the delivery motor gear set and the number of gears of the rotating motor gear set;
according to the formulaCalculating a delivery motor compensation angle; wherein (1)>For delivering the compensation angle of the motor +.>Is the rotation angle of the rotary motor.
In some embodiments, the driving device further includes a delivery motor gear set and a rotating motor gear set, and when the rotating motor rotation information includes a rotating motor rotation speed and a rotating motor rotation angle, the delivery motor rotation information includes a delivery motor rotation speed and a delivery motor rotation angle, the third calculation module is specifically configured to:
According to the formulaCalculating the actual rotation speed of the delivery motor; wherein (1)>For delivering the motor rotational speed +.>For the rotational speed of the rotating electrical machine, < >>For a proportional value calculated from the number of gears of the delivery motor gear set and the number of gears of the rotation motor gear set, < >>To deliver the compensation speed of the motor, < >>To deliver the actual rotational speed of the motor;
according to the formulaCalculating the actual rotation angle of the delivery motor; wherein (1)>For delivering the motor rotation angle +.>For the rotation angle of the rotating motor, < >>Compensating for angle for delivery of motor->To deliver the actual angle of rotation of the motor.
An embodiment of the present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for driving an elongate instrument, the method being applied to a driving device of an interventional surgical robot, the driving device comprising a delivery motor and a rotary motor, the method comprising: receiving a control instruction for controlling the movement of the elongated instrument, the control instruction carrying rotary motor rotation information and/or delivery motor rotation information; determining a control mode of the elongate instrument from the control instructions, the control mode comprising one of: delivery, rotation, and delivery and rotation; when the control mode is rotation, calculating compensation information of a delivery motor according to rotation information of the rotation motor carried by the control instruction; and controlling the rotation of the rotating motor according to the rotation information of the rotating motor, and controlling the rotation of the delivery motor according to the compensation information of the delivery motor so as to drive the slender instrument. It is understood that the computer readable storage medium in this embodiment may be a volatile readable storage medium or a nonvolatile readable storage medium.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided herein and used in embodiments may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, apparatus, article or method that comprises the element.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (8)
1. A method for driving an elongated instrument for use in a driving device of an interventional surgical robot, the driving device comprising a delivery motor and a rotary motor, the method comprising:
receiving a control instruction for controlling the movement of the elongated instrument, the control instruction carrying rotary motor rotation information and/or delivery motor rotation information;
determining a control mode of the elongate instrument from the control instructions, the control mode comprising one of: delivery, rotation, and delivery and rotation;
when the control mode is rotation, calculating compensation information of a delivery motor according to rotation information of the rotation motor carried by the control instruction;
controlling the rotation of the rotating motor according to the rotation information of the rotating motor, and controlling the rotation of the delivery motor according to the compensation information of the delivery motor so as to drive the slender instrument;
the rotating electrical machine rotation information includes a rotating electrical machine rotation speed, or the rotating electrical machine rotation information includes a rotating electrical machine rotation speed and a rotating electrical machine rotation angle;
the driving device further comprises a delivery motor gear set and a rotating motor gear set, the delivery motor gear set comprises a gear a, a gear b, a gear c and a gear d, the rotating motor gear set comprises a gear e, a gear f, a gear g and a gear h, when the delivery motor is started, power is sequentially transmitted to the gear b, the gear c and the gear d through the gear a, and when the rotating motor is started, power is sequentially transmitted to the gear f, the gear g and the gear h through the gear e; Respectively representing the number of teeth of the corresponding gears;
when the rotating electrical machine rotation information includes a rotating electrical machine rotation speed and a rotating electrical machine rotation angle, the calculating the compensation information of the delivery motor according to the rotating electrical machine rotation information carried by the control instruction includes:
according to the formulaCalculating a delivery motor compensation speed; wherein (1)>To deliver the compensation speed of the motor, < >>For the rotational speed of the rotating electrical machine, < >>A ratio value calculated from the number of gears of the delivery motor gear set and the number of gears of the rotating motor gear set; />；
According to the formulaCalculating a delivery motor compensation angle; wherein (1)>For delivering the compensation angle of the motor +.>Is the rotation angle of the rotary motor.
2. The method for driving an elongated instrument according to claim 1, further comprising, after said step of determining a control mode of said elongated instrument according to said control instructions:
when the control mode is delivery and rotation, calculating compensation information of a delivery motor according to rotation information of the rotation motor carried by the control instruction;
calculating actual rotation information of the delivery motor according to the rotation information of the delivery motor carried by the control instruction and the compensation information of the delivery motor;
And controlling the rotation of the rotating motor according to the rotation information of the rotating motor, and controlling the rotation of the delivery motor according to the actual rotation information of the delivery motor so as to drive the slender instrument.
3. The method for driving an elongated instrument according to claim 1, further comprising, after said step of determining a control mode of said elongated instrument according to said control instructions:
and when the control mode is delivery, controlling the delivery motor to rotate according to the delivery motor rotation information carried by the control instruction so as to drive the slender instrument.
4. The method for driving an elongated instrument according to any one of claims 2 or 3, wherein the delivery motor rotation information comprises a delivery motor rotation speed, or wherein the delivery motor rotation information comprises a delivery motor rotation speed and a delivery motor rotation angle.
5. The method for driving an elongated instrument according to claim 1, wherein when the rotating electric machine rotation information includes a rotating electric machine rotation speed, the calculating compensation information of a delivery motor according to the rotating electric machine rotation information carried by the control instruction includes:
According to the formulaCalculating a delivery motor compensation speed; wherein (1)>To deliver the compensation speed of the motor, < >>For the rotational speed of the rotating electrical machine, < >>And calculating a ratio value according to the number of gears of the delivery motor gear set and the number of gears of the rotating motor gear set.
6. The method for driving an elongated instrument according to claim 2, wherein when the rotation motor rotation information includes a rotation motor rotation speed and a rotation motor rotation angle, the delivery motor rotation information includes a delivery motor rotation speed and a delivery motor rotation angle, the calculating the delivery motor actual rotation information from the delivery motor rotation information carried by the control instruction and the compensation information of the delivery motor includes:
according to the formulaCalculating the actual rotation speed of the delivery motor; wherein (1)>For delivering the motor rotational speed +.>For the rotational speed of the rotating electrical machine, < >>For a proportional value calculated from the number of gears of the delivery motor gear set and the number of gears of the rotation motor gear set, < >>To deliver the compensation speed of the motor, < >>To deliver the actual rotational speed of the motor;
According to the formulaCalculating the actual rotation angle of the delivery motor; wherein (1)>For delivering the motor rotation angle +.>For the rotation angle of the rotating motor, < >>Compensating for angle for delivery of motor->To deliver the actual angle of rotation of the motor.
7. A device for driving an elongated instrument, a driving device for application to an interventional surgical robot, the driving device comprising a delivery motor and a rotary motor, characterized in that the device for driving an elongated instrument comprises:
the receiving module is used for receiving the control instruction; the control instructions are used for controlling the movement of the slender instrument, and carry rotating motor rotation information and/or delivery motor rotation information;
a control mode determination module for determining a control mode of the elongate instrument according to the control instructions, the control mode comprising one of: delivery, rotation, and delivery and rotation;
the calculating module is used for calculating compensation information of the delivery motor according to the rotation information of the rotating motor carried by the control instruction when the control mode is rotation;
the control module is used for controlling the rotation of the rotating motor according to the rotation information of the rotating motor and controlling the rotation of the delivery motor according to the compensation information of the delivery motor;
The rotating electrical machine rotation information includes a rotating electrical machine rotation speed, or the rotating electrical machine rotation information includes a rotating electrical machine rotation speed and a rotating electrical machine rotation angle;
the drive device further includes a delivery motor gearset and a rotating motor gearset; the delivery motor gear set comprises a gear a, a gear b, a gear c and a gear d, the rotary motor gear set comprises a gear e, a gear f, a gear g and a gear h, when the delivery motor is started, power is sequentially transmitted to the gear b, the gear c and the gear d through the gear a, and when the rotary motor is started, power is sequentially transmitted to the gear f, the gear g and the gear h through the gear e;respectively representing the number of teeth of the corresponding gears;
when the rotating electrical machine rotation information includes a rotating electrical machine rotation speed and a rotating electrical machine rotation angle, the calculating the compensation information of the delivery motor according to the rotating electrical machine rotation information carried by the control instruction includes:
according to the formulaCalculating a delivery motor compensation speed; wherein (1)>To deliver the compensation speed of the motor, < >>For the rotational speed of the rotating electrical machine, < >>A ratio value calculated from the number of gears of the delivery motor gear set and the number of gears of the rotating motor gear set; / >；
According to the formulaCalculating a delivery motor compensation angle; wherein (1)>For delivering the compensation angle of the motor +.>Is the rotation angle of the rotary motor.
8. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method for driving an elongate instrument according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311118085.9A CN116846257B (en) | 2023-09-01 | 2023-09-01 | Method, apparatus and storage medium for driving an elongated instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311118085.9A CN116846257B (en) | 2023-09-01 | 2023-09-01 | Method, apparatus and storage medium for driving an elongated instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116846257A CN116846257A (en) | 2023-10-03 |
| CN116846257B true CN116846257B (en) | 2024-02-23 |
Family
ID=88174659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311118085.9A Active CN116846257B (en) | 2023-09-01 | 2023-09-01 | Method, apparatus and storage medium for driving an elongated instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116846257B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108744225A (en) * | 2018-05-30 | 2018-11-06 | 合肥美亚光电技术股份有限公司 | Pipelined device and its control method, system |
| CN113633383A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter delivery device for vascular intervention, use method thereof and vascular intervention surgical robot |
| CN114191092A (en) * | 2021-11-10 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Interventional operation robot slave end delivery device |
| CN114948236A (en) * | 2022-05-17 | 2022-08-30 | 苏州润迈德医疗科技有限公司 | Auxiliary end driving device of interventional operation robot |
| CN115137489A (en) * | 2022-09-05 | 2022-10-04 | 深圳市爱博医疗机器人有限公司 | Slender type medical instrument driving device |
| CN115153859A (en) * | 2022-09-05 | 2022-10-11 | 深圳市爱博医疗机器人有限公司 | Slender type medical instrument driving device |
| CN115177369A (en) * | 2022-08-02 | 2022-10-14 | 深圳市爱博医疗机器人有限公司 | Control device for guide wire and guide tube at slave end of interventional operation robot |
| CN115245387A (en) * | 2022-09-22 | 2022-10-28 | 深圳市爱博医疗机器人有限公司 | Elongated medical device delivery system, delivery method, apparatus, and medium |
| CN115281836A (en) * | 2022-08-02 | 2022-11-04 | 上海卓昕医疗科技有限公司 | Blood vessel intervention operation guide wire/catheter force feedback device and blood vessel intervention operation robot |
| CN115500948A (en) * | 2022-10-08 | 2022-12-23 | 深圳市爱博医疗机器人有限公司 | Guide conveying mechanism |
| CN115737131A (en) * | 2022-12-01 | 2023-03-07 | 深圳市爱博医疗机器人有限公司 | Interventional robot control system |
| CN116370800A (en) * | 2023-03-09 | 2023-07-04 | 中国科学院深圳先进技术研究院 | Vascular intervention type equipment pushing mechanism and guide wire and catheter double pushing device |
-
2023
- 2023-09-01 CN CN202311118085.9A patent/CN116846257B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108744225A (en) * | 2018-05-30 | 2018-11-06 | 合肥美亚光电技术股份有限公司 | Pipelined device and its control method, system |
| CN113633383A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter delivery device for vascular intervention, use method thereof and vascular intervention surgical robot |
| CN114191092A (en) * | 2021-11-10 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Interventional operation robot slave end delivery device |
| CN114948236A (en) * | 2022-05-17 | 2022-08-30 | 苏州润迈德医疗科技有限公司 | Auxiliary end driving device of interventional operation robot |
| CN115177369A (en) * | 2022-08-02 | 2022-10-14 | 深圳市爱博医疗机器人有限公司 | Control device for guide wire and guide tube at slave end of interventional operation robot |
| CN115281836A (en) * | 2022-08-02 | 2022-11-04 | 上海卓昕医疗科技有限公司 | Blood vessel intervention operation guide wire/catheter force feedback device and blood vessel intervention operation robot |
| CN115137489A (en) * | 2022-09-05 | 2022-10-04 | 深圳市爱博医疗机器人有限公司 | Slender type medical instrument driving device |
| CN115153859A (en) * | 2022-09-05 | 2022-10-11 | 深圳市爱博医疗机器人有限公司 | Slender type medical instrument driving device |
| CN115245387A (en) * | 2022-09-22 | 2022-10-28 | 深圳市爱博医疗机器人有限公司 | Elongated medical device delivery system, delivery method, apparatus, and medium |
| CN115500948A (en) * | 2022-10-08 | 2022-12-23 | 深圳市爱博医疗机器人有限公司 | Guide conveying mechanism |
| CN115737131A (en) * | 2022-12-01 | 2023-03-07 | 深圳市爱博医疗机器人有限公司 | Interventional robot control system |
| CN116370800A (en) * | 2023-03-09 | 2023-07-04 | 中国科学院深圳先进技术研究院 | Vascular intervention type equipment pushing mechanism and guide wire and catheter double pushing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116846257A (en) | 2023-10-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Seifabadi et al. | Design of a teleoperated needle steering system for MRI-guided prostate interventions | |
| Shen et al. | A novel remote‐controlled robotic system for cerebrovascular intervention | |
| CN116846257B (en) | Method, apparatus and storage medium for driving an elongated instrument | |
| Li et al. | VINE catheter for endovascular surgery | |
| CN107625543B (en) | Magnetic resonance compatible handheld flexible interventional needle system | |
| US10709510B2 (en) | System and method for controlling a motor in a catheter procedure system | |
| JP2012502681A (en) | Automatic system for controlled deployment of telescoping cannulas | |
| Hatefi et al. | Continuous distraction osteogenesis device with MAAC controller for mandibular reconstruction applications | |
| CN101785705B (en) | Operation device of radio frequency electrode ablation catheter handle | |
| CN106420059A (en) | Flexible operation tooling system with preposed driving input | |
| CN106308826A (en) | C type arm of C-arm X-ray machine | |
| Gruionu et al. | Robotic System for Catheter Navigation during Medical Procedures | |
| CN116036445A (en) | Guide wire linear and rotary synchronous executing mechanism, surgical instrument and surgical robot | |
| Ma et al. | Development of a PID controller for a novel robotic catheter system | |
| CN115177369A (en) | Control device for guide wire and guide tube at slave end of interventional operation robot | |
| CN115137492A (en) | Driving device, interventional operation robot, driving method and storage medium | |
| WO2023162626A1 (en) | Continuum robot moving device and method for controlling continuum robot moving device | |
| Wang et al. | A novel catheter rotation structure for aseptic environment of interventional surgery robot | |
| CN114948224A (en) | Force feedback method and system of catheter robot | |
| CN113729959A (en) | Operation robot slave-end guide wire catheter operation device | |
| Jia et al. | An interventional surgical robot system with force feedback | |
| US20240138946A1 (en) | Steerable sheath with robotic handle stand | |
| Sen et al. | Concept design of robotic modules for needlescopic surgery | |
| Trovato et al. | Collision-free 6D non-holonomic planning for nested cannulas | |
| Guo et al. | Cable-driven interventional operation robot with Stribeck friction feedforward compensation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 518000 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli 6th Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518000 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli 6th Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |